carla::multigpu::SensorState Struct Reference

One record of frame data packet 27: the runtime state a sensor of the primary starts this frame's tick from. More...

#include <sensorSync.h>

Public Member Functions
bool	empty () const

Public Attributes
uint32_t	actor_id = 0u
std::optional< ImuHistory >	imu_history
std::optional< std::array< double, 4 > >	imu_local_rotation
	IMU: its rotation relative to its parent (x, y, z, w), which turns the parent's angular velocity into the gyroscope's.
std::optional< float >	lidar_horizontal_angle
	Ray-cast lidars: where this tick's sweep starts (radians).
std::optional< std::array< double, 3 > >	radar_previous_location
	Radar: its previous location (world, cm), for its own velocity.
std::optional< uint32_t >	random_engine
	URandomEngine (noise, lidar drop-off, radar ray directions).

Detailed Description

One record of frame data packet 27: the runtime state a sensor of the primary starts this frame's tick from.

A mirror created at another frame starts from its own defaults; with this it computes exactly what the primary's sensor would.

Definition at line 87 of file sensorSync.h.

Member Function Documentation

empty()

bool carla::multigpu::SensorState::empty ( ) const

inline

Definition at line 101 of file sensorSync.h.

References imu_history, imu_local_rotation, lidar_horizontal_angle, radar_previous_location, and random_engine.

Member Data Documentation

actor_id

uint32_t carla::multigpu::SensorState::actor_id = 0u

Definition at line 88 of file sensorSync.h.

Referenced by FFrameData::AddSensorTick(), carla::multigpu::SensorStates::Read(), TEST(), and TEST().

imu_history

std::optional<ImuHistory> carla::multigpu::SensorState::imu_history

Definition at line 93 of file sensorSync.h.

Referenced by empty(), and TEST().

imu_local_rotation

std::optional<std::array<double, 4> > carla::multigpu::SensorState::imu_local_rotation

IMU: its rotation relative to its parent (x, y, z, w), which turns the parent's angular velocity into the gyroscope's.

A mirror is attached rigidly, so a spring arm's rotation would differ.

Definition at line 99 of file sensorSync.h.

Referenced by empty(), and TEST().

lidar_horizontal_angle

std::optional<float> carla::multigpu::SensorState::lidar_horizontal_angle

Ray-cast lidars: where this tick's sweep starts (radians).

Definition at line 92 of file sensorSync.h.

Referenced by empty(), and TEST().

radar_previous_location

std::optional<std::array<double, 3> > carla::multigpu::SensorState::radar_previous_location

Radar: its previous location (world, cm), for its own velocity.

Definition at line 95 of file sensorSync.h.

Referenced by empty(), TEST(), and TEST().

random_engine

std::optional<uint32_t> carla::multigpu::SensorState::random_engine

URandomEngine (noise, lidar drop-off, radar ray directions).

Definition at line 90 of file sensorSync.h.

Referenced by empty(), and TEST().

---

The documentation for this struct was generated from the following file:

• sensorSync.h